/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
  * All rights reserved.</center></h2>
  *
  * This software component is licensed by ST under BSD 3-Clause license,
  * the "License"; You may not use this file except in compliance with the
  * License. You may obtain a copy of the License at:
  *                        opensource.org/licenses/BSD-3-Clause
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include "modbus.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
uint32_t begin_cnt;
uint32_t end_cnt;

uint16_t last_input = 0;
int pwm_output_change_delay=0;

uint16_t test_buf[100];

int16_t in_value;
int16_t out_value_1;
int16_t out_value_2;
    
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
    int i;
    int16_t temp;
    
    HAL_Init();

    SystemClock_Config();

    MX_GPIO_Init();
    MX_TIM1_Init();
    MX_TIM3_Init();
    MX_USART1_UART_Init();

    HAL_HalfDuplex_EnableReceiver(&huart1);
    __HAL_UART_ENABLE_IT(&huart1, UART_IT_RXNE);
    
    modbusRegister[MB_ADDR_PARAM_NUM] = 2;
    
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
    HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
    TIM1->CCR2 = 1500;
    TIM1->CCR3 = 1500;
    
    TIM3->CR1 |= 0x01;
    
    while (1)
    {
        modbus_poll();
        
        if(pwm_output_change_delay==0)
        {
            pwm_output_change_delay = 10;

            if(modbusRegister[MB_ADDR_PWM_IN] != last_input)
            {
                last_input = modbusRegister[MB_ADDR_PWM_IN];

                if(last_input > 500 && last_input < 2500)
                {
                    in_value = last_input;
                    in_value = in_value - 1500;    //去掉偏移量，得到+-1000的值
                    
                    temp = in_value / 2;  //输出值取输入的50%
                    
                    out_value_1 = 1500 + temp;  //输出1和输出2反向
                    out_value_2 = 1500 - temp;
                    
                    TIM1->CCR2 = out_value_1;
                    TIM1->CCR3 = out_value_2;

                    for(i=98;i>=0;i--)
                    {
                        test_buf[i+1] = test_buf[i];                    
                    }
                    test_buf[0] = last_input;
                }
            }
        }
    }
}

void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin)
{      
    if(GPIO_Pin == GPIO_PIN_3)
    {
        if(HAL_GPIO_ReadPin(GPIOA,GPIO_PIN_3)==GPIO_PIN_SET)
        {
            TIM3->CNT = 0;
            begin_cnt = TIM3->CNT;            
        }
        else
        {
            end_cnt = TIM3->CNT;            
            modbusRegister[MB_ADDR_PWM_IN] = end_cnt - begin_cnt;     
            TIM3->CNT = 0;            
        }
    }
}

void main_systick_callback(void)
{
    if(pwm_output_change_delay>0)
    {
        pwm_output_change_delay--;
    }
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
  RCC_PeriphCLKInitTypeDef PeriphClkInit = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSI;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL12;
  RCC_OscInitStruct.PLL.PREDIV = RCC_PREDIV_DIV1;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK)
  {
    Error_Handler();
  }
  PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1;
  PeriphClkInit.Usart1ClockSelection = RCC_USART1CLKSOURCE_PCLK1;
  if (HAL_RCCEx_PeriphCLKConfig(&PeriphClkInit) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
